Ilian Bonev, Eng., Ph.D.
B.Eng. (TU-Sofia, Bulgaria), M.Sc. (GIST, South Korea), Ph.D. (Université Laval, Quebec, Canada)
Professor, Canada Research Chair in Precision Robotics
Department of Automated Manufacturing Engineering
Ilian Bonev
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Papers in Scientific Journals (peer reviewed)
Cherchelanov, E., and Bonev, I.A., "A novel three-legged 6-DOF parallel robot with simple kinematics", Transactions of the Canadian Society for Mechanical Engineering, 2020.
Kamali, K., and Bonev, I.A., "Optimal experiment design for elasto-geometrical calibration of industrial robots", IEEE/ASME Transactions on Mechatronics, Vol. 24 , No. 6, pages 2733–2744, 2019.
Nadeau, N.A., Bonev, I.A., and Joubair, A., "Impedance control self-calibration of a collaborative robot using kinematic coupling", Robotics, Vol. 8, No. 2, 2019.
Stepanenko, O., Bonev, I.A., and Zlatanov, D., "A new 4-DOF fully-parallel robot with decoupled rotation for 5-axis micromachining applications", Journal of Mechanisms and Robotics, Vol. 11, No. 3, 2019. 
Gaudreault, M., Joubair, A., and Bonev, I.A., "Self-calibration of an industrial robot using a novel affordable 3D measuring device", Sensors, Vol. 18, No. 10, 3380, 2018.
FarzanehKaloorazi, M., Bonev, I.A., and Birglen, L., “Simultaneous path placement and trajectory planning optimization for a redundant coordinated robotic workcell", Mechanism and Machine Theory, Vol. 130, pp. 346–362, 2018. 
Gharaaty, S., Shu, T., Joubair, A., Xie, W., and Bonev, I.A., "Online pose correction of an industrial robot using an optical coordinate measure machine system", International Journal of Advanced Robotic Systems, 2018. 
Shu, T., Gharaaty, S., Xie, W., Joubair, A., and Bonev, I.A., "Dynamic path tracking of industrial robots with high accuracy using photogrammetry sensor", IEEE/ASME Transactions on Mechatronics, Vol. 23, No. 3, pp. 1159–1170, 2018. 
Filion, A., Joubair, A., Tahan, A.S., and Bonev, I.A. "Robot calibration using laser tracker and portable photogrammetry system", Robotics and Computer-Integrated Manufacturing, Vol. 49, pp. 77–87, February 2018. 
Joubair, A., Zhao, L.-F., Bigras, P., and Bonev, I.A., "Use of a force-torque sensor for self-calibration of a 6-DOF medical robot", Sensors, Vol. 16, No. 6, 798, 2016.
Slamani, M., Joubair, A. and Bonev, I.A., "A comparative evaluation of three industrial robots using three reference measuring techniques", Industrial Robot, Vol. 42, No. 6, pp. 572–585, 2015.
Zhao, L., Joubair, A., Bigras, P., and Bonev, I.A., "Metrological evaluation of a novel medical robot and its kinematic calibration", International Journal of Advanced Robotic Systems, Vol. 12, paper No. 126, 2015. 
Joubair, A., and Bonev, I.A., "Non-kinematic calibration of a six-axis serial robot using planar constraints", Precision EngineeringVol. 40, pp. 325–333, 2015.
Joubair, A., Zhao, L., Bigras, P., and Bonev, I.A., "Absolute accuracy analysis and improvement of a hybrid 6-DOF medical robot", Industrial Robot, Vol. 42, No. 1, pp. 44–53, 2015.
Joubair, A., and Bonev, I.A., "Kinematic calibration of a six-axis serial robot using distance and sphere constraints", International Journal of Advanced Manufacturing Technology, Vol. 77, No. 1-4, pp. 515–523, 2015. 
Bourbonais, F., Bigras, P., and Bonev, I.A., “Minimum-time trajectory planning and control of a reconfigurable pick-and-place parallel robot", IEEE/ASME Transactions on Mechatronics, Vol. 20, No. 2, pp. 740–749, 2015. 
Zhao, L., Kar Wah Yen, A., Coulombe, J., Bigras, P., and Bonev, I.A., "Kinematic analyses of a new medical robot for 3D vascular ultrasound examination", Transactions of the Canadian Society for Mechanical Engineering, Vol. 38, No. 2, pp. 227–239, 2014. 
Nubiola, A., and Bonev, I.A., “Absolute robot calibration with a single telescoping ballbar", Precision Engineering, Vol. 38, No. 3, pp. 472–480, 2014. 
Nubiola, A., and Bonev, I.A., "Geometric approach to solving the inverse displacement problem of calibrated decoupled 6R serial robots", Transactions of the Canadian Society for Mechanical Engineering, Vol. 38, No. 1, pp. 31–44, 2014. 
Nubiola, A., Slamani, M., Joubair, A. and Bonev, I.A., “Comparison of two calibration methods for a small industrial robot based on an optical CMM and a laser tracker", Robotica, Vol. 32, No. 3, pp. 447–466, 2014.
Joubair, A., Nubiola, A., and Bonev, I.A., "Calibration efficiency analysis based on five observability indices and two calibration models for a six-axis industrial robot", SAE International Journal of Aerospace, Vol. 6, No. 1, pp.161–168, 2013. 
Joubair, A., and Bonev, I.A., “Comparison of the efficiency of five observability indices for robot calibration", Mechanism and Machine Theory, Vol. 70, pp. 254–265, 2013. 
Zaghbani, I., Songmene, V., and Bonev, I.A., "An experimental study on the vibration response of a robotic machining system", Proceedings of the IMechE, Part B: Journal of Engineering Manufacture, Vol. 227, No. 6, pp. 866–880, 2013. 
Nubiola, A., Slamani, M., and Bonev, I.A., “A new method for measuring a large set of poses with a single telescoping ballbar", Precision Engineering, Vol. 37, No. 2, pp. 451–460, 2013. 
Slamani, M., and Bonev, I.A., "Characterization and experimental evaluation of gear transmission errors in an industrial robot", Industrial RobotVol. 40, No. 5, pp. 441–449, 2013.
Joubair, A., Slamani, M., and Bonev, I.A., "Kinematic calibration of a five-bar planar parallel robot using all working modes", Robotics and Computer-Integrated Manufacturing, Vol. 29, No. 4, pp. 1525, 2013. 
Nubiola, A., and Bonev, I.A., "Absolute calibration of an ABB IRB 1600 robot using a laser tracker", Robotics and Computer-Integrated Manufacturing, Vol. 29, No. 1, pp. 236–245, 2013. 
Slamani, M., Nubiola, A., and Bonev, I.A., "Modeling and assessment of the backlash error of an industrial robot", Robotica, Vol. 30, No. 7, pp. 1167–1175,  2012. 
Joubair, A., Slamani, M., and Bonev, I.A., "A novel XY-Theta precision table and a geometric procedure for its kinematic calibration", Robotics and Computer-Integrated Manufacturing, Vol. 28, No. 1, pp. 57–65, 2012. 
Joubair, A., Slamani, M., and Bonev, I.A., "Kinematic calibration of a 3-DOF planar parallel robot", Industrial Robot, Vol. 39, No. 4, pp. 392–400, 2012. 
Slamani, M., Nubiola, A., and Bonev, I.A., "Assessment of the positioning performance of an industrial robot", Industrial Robot, Vol. 39, No. 1, pp. 57–68, 2012. 
Slamani, M., Nubiola, A., and Bonev, I.A., "Effect of servo systems on the contouring errors in industrial robots", Transactions of the Canadian Society for Mechanical Engineering, Vol. 36, No. 1, pp. 83–96, 2012. 
Bedoustani, Y.B., Bigras, P., Taghirad, H.D., and Bonev, I.A., "Lagrangian dynamics of cable-driven parallel manipulators: A variable mass formulation", Transactions of the Canadian Society for Mechanical Engineering, Vol. 35, No. 4, pp. 529–542, 2011. 
Liu, X.-J., Wang, L.-P., Xie, F., and Bonev, I.A., "Design of a 3-axis articulated tool head with parallel kinematics achieving desired motion/force transmission characteristics", Journal of Manufacturing Science and Engineering, Vol. 132, No. 2, 2010. 
Rakotomanga, N., and Bonev, I.A., "A 3-RPR parallel mechanism with singularities that are self-motions", Journal of Mechanisms and Robotics, Vol. 2, No. 3, 2010. 
Briot, S., and Bonev, I.A., "Pantopteron-4: A new 3T1R decoupled parallel manipulator for pick-and-place applications", Mechanism and Machine Theory, Vol. 45, No. 5, pp. 707–721, 2010. 
Briot, S., and Bonev, I.A., "Accuracy analysis of 3T1R fully-parallel robots", Mechanism and Machine Theory, Vol. 45, No. 5, pp. 695–706, 2010. 
Blaise, J., Bonev, I.A., Monsarrat, B., Briot, S., Lambert, J.M., and Perron, C., "Kinematic characterisation of hexapods for industry", Industrial Robot, Vol. 37, No. 1, pp. 79–88, 2010. 
Briot, S., and Bonev, I.A., "Pantopteron: A new fully decoupled 3DOF translational parallel robot for pick-and-place applications", Journal of Mechanisms and Robotics, Vol. 1, No. 2, 2009. 
Briot, S., Bonev, I.A., Gosselin, C.M., and Arakelian, V., "Complete shaking force and shaking moment balancing of planar parallel manipulators with prismatic pairs", Journal of Multi-body Dynamics, Vol. 223, No. 1, pp. 43–52, 2009. 
Briot, S., Arakelian, V., Bonev, I.A., Chablat, D., and Wenger, P., "Self motions of general 3-RPR planar parallel robots", The International Journal of Robotics Research, Vol. 27, No. 7, pp. 855–866, 2008. 
Liu, X.-J., and Bonev, I.A., "Orientation capability, error analysis and dimension optimization of two articulated tool heads with parallel kinematics", Journal of Manufacturing Science and Engineering, Vol. 130, No. 1, 011015, 2008. 
Liu, X., Wu, C., Wang, J., and Bonev, I., "Attitude description method of [PP]S type parallel robotic mechanisms", Chinese Journal of Mechanical Engineering, Vol. 44, No. 10, pp. 19–23, 2008.
Briot, S., and Bonev, I.A., "Accuracy analysis of 3-DOF planar parallel robots", Mechanism and Machine Theory, Vol. 43, No. 4, pp. 445–458, 2008. 
Yu, A., Bonev, I.A., and Zsombor-Murray, P., "Geometric approach to the accuracy analysis of a class of 3-DOF planar parallel robots", Mechanism and Machine Theory, Vol. 43, No. 3, pp. 364–375, 2008. 
Briot, S., and Bonev, I.A., "Are parallel robots more accurate than serial robots", Transactions of the Canadian Society for Mechanical Engineering, Vol. 31, No. 4, pp. 445–455, 2007. 
Lessard, S., Bigras, P., and Bonev, I.A., "A new medical parallel robot and its static balancing optimization", Journal of Medical Devices, Vol. 1, No. 4, pp. 272–278, 2007. 
Bonev, I.A., and Gosselin, C.M., "Analytical determination of the workspace of symmetrical spherical parallel mechanisms", IEEE Transactions on Robotics, Vol. 22, No. 5, pp. 1011–1017, 2006. 
Bonev, I.A., Zlatanov, D., and Gosselin, C.M., "Singularity analysis of 3-DOF planar parallel mechanisms via screw theory", Journal of Mechanical Design, Vol. 125, No. 3, pp. 573–581, 2003. 
Bonev, I.A., Ryu, J., Kim, S.-G., and Lee, S.-K., "A closed-form solution to the direct kinematics of nearly general parallel manipulators with optimally located three linear extra sensors", IEEE Transactions on Robotics and Automation, Vol. 17, No. 2, pp. 148–156, 2001. 
Bonev, I.A., and Ryu, J., "A geometrical method for computing the constant-orientation workspace of 6-PRRS parallel manipulators", Mechanism and Machine Theory, Vol. 36, No. 1, pp. 1–13, 2001. 
Bonev, I.A., and Ryu, J., "A new approach to orientation workspace analysis of 6-DOF parallel manipulators", Mechanism and Machine Theory, Vol. 36, No. 1, pp. 15–28, 2001. 
Bonev, I.A., and Ryu, J., "A new method for solving the direct kinematics of general 6-6 Stewart platforms using three linear extra sensors", Mechanism and Machine Theory, Vol. 35, No. 3, pp. 423–436, 2000. 

Papers in International Conference Proceedings (peer reviewed)
Kamali, K., and Bonev, I.A., "Optimizing cable arrangement in cable-driven parallel robots to improve the range of available wrenches", ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Quebec City, QC, Canada, August 26-29, 2018.
Stepanenko, O., and Bonev, I.A., "Novel 4-DOF SCARA parallel robot with cylindrical workspace", ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Quebec City, QC, Canada, August 26-29, 2018.
FarzanehKaloorazi, M., Bonev, I.A., and Birglen, L., "Parameters identification of the path placement optimization problem for a redundant coordinated robotic workcell", ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Quebec City, QC, Canada, August 26-29, 2018.
FarzanehKaloorazi, M., and Bonev, I.A., "Singularities of the typical collaborative robot arm", ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Quebec City, QC, Canada, August 26-29, 2018.
Nadeau, N., and Bonev, I.A., "Evolutionary motion control optimization in physical human-robot interaction", 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, October 1-5, 2018.
Gharaaty, S., Shu, T., Xie, W., Joubair, A., and Bonev, I.A., "Accuracy enhancement of industrial robots by on-line pose correction", The 3rd International Conference on Robotics and Vision, Wuham, China, June 16-19, 2017.
Shu, T., Gharaaty, S., Xie, W., Joubair, A., and Bonev, I.A., "Dynamic path tracking of industrial robots with high accuracy by visual servoing", The 12th IEEE Conference on Industrial Electronics and Applications, Siem Reap, Cambodia, June 18-20, 2017.
Joubair, A., Tahan, S.-A., and Bonev, I.A., "Performances of observability indices for industrial robot calibration", 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, October 9-14, 2016.
Kamali, K., Joubair, A., Bonev, I.A., and Bigras, P., "Non-kinematic calibration of an industrial robot under multidirectional external loads", 2016 IEEE International Conference on Robotics and Automation, Stockholm, Sweden, May 16–21, 2016.
Gaudreault, M., Joubair, A., and Bonev, I.A., "Local calibration of an industrial serial robot using a new low-cost 3D measuring device", 2016 IEEE International Conference on Robotics and Automation, Stockholm, Sweden, May 16–21, 2016. 
Seward, N., and Bonev, I.A., "A new 6-DOF parallel robot with simple kinematic model", 2014 IEEE International Conference on Robotics and Automation, Hong Kong, China, May 31 – June 5, 2014.
Coulombe, J., and Bonev, I.A., "A new rotary hexapod for micropositioning", 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6–10, 2013.
Rakotomanga, N., and Bonev, I.A., "Completely eliminating the singularities of a 3-DOF planar parallel robot with only one degree of actuator redundancy", ASME 2010 International Design Engineering Technical Conferences, Montreal, QC, Canada, August 15–18, 2010.
Campos, L., Bourbonnais, F., Bonev, I.A., and Bigras, P., "Development of a five-bar parallel robot with large workspace", ASME 2010 International Design Engineering Technical Conferences, Montreal, QC, Canada, August 15–18, 2010. 
Briot, S., and Bonev, I.A., "Self motions of the Pantopteron", ASME 2009 International Design Engineering Technical Conferences, San Diego, CA, USA, August 30 – September 2, 2009.
Briot, S., and Bonev, I.A., "Singularity analysis of zero-torsion parallel mechanisms", 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, September 22–26, 2008. 
Bonev, I.A., Briot, S., Wenger, P., and Chablat, D., "Changing assembly modes without passing parallel singularities in non-cuspidal 3-RPR planar parallel robots", Second International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Montpellier, France, September 21–22, 2008.
Briot, S., and Bonev, I.A., "A pair of measures of rotational error for axisymmetric robot end-effectors", 11th International Symposium on Advances in Robot Kinematics, Batz-sur-Mer, France, June 22–26, 2008. 
Bonev, I.A., "Direct kinematics of zero-torsion parallel mechanisms", 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, May 19–23, 2008. 
Figielski, A., Bonev, I.A., Bigras, P., "Towards development of a 2-DOF planar parallel robot with optimal workspace use", 2007 IEEE International Conference on Systems, Man, and Cybernetics, Montreal, QC, Canada, October 7–10, 2007. 
Lessard, S., Bigras, P., Bonev, I.A., Briot, S., and Arakelyan, V., "Optimum static balancing of the parallel robot for medical 3D-ultrasound imaging", The 12th World Congress in Mechanism and Machine Science, Besançon, France, June 17–21, 2007.
Bonev, I.A., Yu, A., and Zsombor-Murray, P., "XY-Theta positioning table with parallel kinematics and unlimited theta rotation", 2006 IEEE International Symposium on Industrial Electronics, Montreal, QC, Canada, July 9–13, 2006. 
Yu, A., Bonev, I.A., and Zsombor-Murray, P., "New XY-Theta positioning table with partially decoupled parallel kinematics", 2006 IEEE International Symposium on Industrial Electronics, Montreal, QC, Canada, July 9–13, 2006. 
Lessard, S., Bonev, I.A., Bigras, P., Durand, L.-G., Soulez, G., Cloutier, G., and De Guise, J.A., "Parallel robot for medical 3D-ultrasound imaging", 2006 IEEE International Symposium on Industrial Electronics, Montreal, QC, Canada, July 9–13, 2006. 
Chablat, D., Wenger, P., and Bonev, I.A., "Self motions of a special 3-RPR planar parallel robot", 10th International Symposium on Advances in Robot Kinematics, Ljubljana, Slovenia, pp. 221–228, June 25–29, 2006. 
Bonev, I.A., Chablat, D., and Wenger, P., "Working and assembly modes of the Agile Eye", 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, USA, pp. 2317–2322, May 15–19, 2006. 
Zsombor-Murray, P., Bonev, I.A., and El Fashny, S., "Displacement", 1st European Conference on Mechanism Science, Obergurgl, Austria, May 21–26, 2006.
Bonev, I.A., and Gosselin, C.M., "Singularity loci of spherical parallel mechanisms", 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 2968–2973, April 18–22, 2005. 
Gosselin, C.M., Kong, X., Foucault, S., and Bonev, I.A., "A fully decoupled 3-DOF translational parallel mechanism", 2004 Parallel Kinematic Machines International Conference, pp. 595–610, Chemnitz, Germany, April 20–21, 2004.
Bonev, I.A., and Gosselin, C.M., "Geometric algorithms for the computation of the constant-orientation workspace and singularity surfaces of a special 6-RUS parallel manipulator", 2002 ASME Design Engineering Technical Conferences, Montreal, QC, Canada, September 29 – October 2, 2002. 
Zlatanov, D., Bonev, I.A., and Gosselin, C.M., "Constraint singularities as C-Space singularities", 8th International Symposium on Advances in Robot Kinematics, Caldes de Malavella, Spain, June 24–28, 2002.  +
Zlatanov, D., Bonev, I.A., and Gosselin, C.M., "Constraint singularities of parallel mechanisms", 2002 IEEE International Conference on Robotics and Automation, Washington, D.C., USA, May 11–15, 2002. 
Bonev, I.A., Zlatanov, D., and Gosselin, C.M., "Advantages of the modified Euler angles in the design and control of PKMs", 2002 Parallel Kinematic Machines International Conference, pp. 171–188, Chemnitz, Germany, April 23–25, 2002.
Bonev, I.A., and Gosselin, C.M., "Singularity loci of planar parallel manipulators with revolute joints", 2nd Workshop on Computational Kinematics, pp. 291–299, Seoul, South Korea, May 20–22, 2001.  +
Bonev, I.A., and Gosselin, C.M., "A geometric algorithm for the computation of the constant-orientation workspace of 6-RUS parallel manipulators", 2000 ASME Design Engineering Technical Conferences, Baltimore, MD, USA, September 10–13, 2000. 
Bonev, I.A., Ryu, J., Lee, S.-K., and Kim, N.-J., "A simple new closed-form solution of the direct kinematics of parallel manipulators using three extra sensors", 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 526–530, Atlanta, GA, USA, September 19–22, 1999. 
Bonev, I.A., and Ryu, J., "Workspace analysis of 6-PRRS parallel manipulators based on the vertex space concept", 1999 ASME Design Engineering Technical Conferences, Las Vegas, NV, USA, September 12–15, 1999. 
Bonev, I.A., and Ryu, J., "Orientation workspace analysis of 6-DOF parallel manipulators", 1999 ASME Design Engineering Technical Conferences, Las Vegas, NV, USA, September 12–15, 1999. 

Theses
Bonev, I.A., "Geometric Analysis of Parallel Mechanisms", Ph.D. thesis, Université Laval, Quebec, QC, Canada, November 2002. 
Bonev, I.A., "Analysis and Design of 6-DOF 6-PRRS Parallel Manipulators", Master's thesis, Gwangju Institute of Science and Technology, Gwangju, South Korea, December 1998.

Patents
Lessard, S., Bonev, I.A., and Bigras, P., "Parallel manipulator", US Patent No. 7,673,537, filed June 2, 2008, issued March 9, 2010. 
Bonev, I.A., "Planar parallel mechanism and method", US Patent No. 7,707,907, filed November 17, 2006, issued May 4, 2010. 
Ryu, J., Lee, S.K., Bonev, I.A., Kim, N.J., and Moon, S.H., "Parallel robot control method and equipment", Korean Patent No. 0332296, filed July 5, 1999, issued March 29, 2002. 

Others
Bonev, I.A., "Should we take journal impact factors seriously?", ParalleMIC, August 2009. 
Bonev, I.A., "Les robots parallèles : de la recherche vers les applications", Journées Nationales de la Recherche en Robotique, Obernai, France, October 9–12, 2007 (invité).  + video of the presentation
Bonev, I.A., "The true origins of parallel robots", ParalleMIC, January 2003. 
Bonev, I.A., "What is going on with parallel robots", Robotics Online, August 2002.
Bonev, I.A., "Delta Robot — The story of success", ParalleMIC, May 2001. 


Contact info

Office: A-3639
Phone: 514 396-8403
Fax: 514 396-8595

ilian.bonev@etsmtl.ca

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